Design and Development of Assistive Robots for Close Interaction with People with Disabilities

People with mobility and manipulation impairments wish to live and perform tasks as independently as possible; however, for many tasks, compensatory technology does not exist, to do so. Assistive robots have the potential to address this need. This work describes various aspects of the development of three novel assistive robots: the Personal Mobility and Manipulation Appliance (PerMMA), the Robotic Assisted Transfer Device (RATD), and the Mobility Enhancement Robotic Wheelchair (MEBot). PerMMA integrates mobility with advanced bi-manual manipulation to assist people with both upper and lower extremity impairments. The RATD is a wheelchair mounted robotic arm that can lift higher payloads and its primary aim is to assist caregivers of people who cannot independently transfer from their electric powered wheelchair to other surfaces such as a shower bench or toilet. MEBot is a wheeled robot that has highly reconfigurable kinematics, which allow it to negotiate challenging terrain, such as steep ramps, gravel, or stairs. A risk analysis was performed on all three robots which included a Fault Tree Analysis (FTA) and a Failure Mode Effect Analysis (FMEA) to identify potential risks and inform strategies to mitigate them. Identified risks or PerMMA include dropping sharp or hot objects. Critical risks identified for RATD included tip over, crush hazard, and getting stranded mid-transfer, and risks for MEBot include getting stranded on obstacles and tip over. Lastly, several critical factors, such as early involvement of people with disabilities, to guide future assistive robot design are presented

Effect of Caregiver Driven Robot-Assisted In-Ward Training in Subacute Stroke Patients: A Case Series

ObjectiveTo evaluate the effect of caregiver driven robot-assisted in-ward training in subacute stroke patients.MethodsA retrospective evaluation was performed for patients treated with caregiver driven robot-assisted in-ward training to retain gait function from June 2014 and December 2016. All patients received more than 2 weeks of caregiver driven robot-assisted in-ward training after undergoing conventional programs. The robot was used as a sitting device, a standing frame, or a high-walker depending on functional status of the patient. Patients were evaluated before and after robot training. Patient records were assessed by Korean version of Modified Barthel Index (K-MBI), Functional Independence Measure (FIM), and Functional Ambulation Category (FAC).ResultsInitially, patients used the robot as a sitting device (n=6), a standing frame (n=7), or a partial body-weight support high-walker (n=2). As patient functions were improved, usage level of the robot was changed to the next level. At the end of the treatment, the robot was used as a sitting device (n=1), a standing frame (n=6), or high-walker (n=8). Scores of K-MBI (Δ17.47±10.72) and FIM (Δ19.80±12.34) were improved in all patients.ConclusionPatients' usage level of the robot and functional scores were improved. Therefore, performing additional caregiver driven robot-assisted in-ward training is feasible and beneficial for subacute stroke patients

CES-514 Market Evaluation for Colchester Catalyst on the use of Robotic Wheelchairs

1.2 What is a Robotic Wheelchair?........................... 1 1.3 Type of Marketing Research used and sources of data...............

Ergonomic Assessment of a Robotic Assisted Transfer Device for Conducting Caregiver Assisted Wheelchair Transfers

Depending on the nature of an injury or illness, a care recipient benefits from caregiver assistance when moving to and from a target surface, a maneuver known as an assisted transfer. When performed manually, that is physically with no assistance, a transfer exposes the caregiver to muscle fatigue in the back, shoulders, and upper extremities, endangering themselves as well as their care recipient. Because of the relief they provide caregivers, transfer lift systems are becoming a common clinical standard to counter exposure to such risk factors. Use of such devices improves the safety of performing transfers as well as their efficiency. As the population continues to age and society becomes more inclusive of disability, it is imperative to advance such technologies as to improve their usability in and out of a clinical workspace. Robotics present a unique opportunity for caregivers to perform a safe and effective transfer while reducing the risk for musculoskeletal injury and progressing independent living for a mobility device user. The purpose of this project was to assess caregivers performing transfers using a portable, ambidextrous robotic assisted transfer device (RATD). This was performed over the course of two studies: (1) a “proof of concept” assessment in which the trunk kinematics and usability feedback from caregivers (N=21) were compared between a prototype of the novel RATD and a Mechanical Floor Lift (the clinical standard of care), and (2) an ergonomic assessment in which caregivers (N=28) conducted transfers on their paired care recipient (N=28) using a second generation RATD, from which trunk kinematics, usability feedback, cognitive load, and muscle activation was compared to the Mechanical Floor Lift. The outcomes of both studies provided insight and promise into the application of a novel engineering concept to advance performance of a critical activity of daily living (ADL) for people living with a mobility impairment as well as to improve quality of care delivery provided by their caregivers

International Conference on Mechatronics, System Engineering And Robotics & Informations System And Engineering

UBT Annual International Conference is the 9th international interdisciplinary peer reviewed conference which publishes works of the scientists as well as practitioners in the area where UBT is active in Education, Research and Development. The UBT aims to implement an integrated strategy to establish itself as an internationally competitive, research-intensive university, committed to the transfer of knowledge and the provision of a world-class education to the most talented students from all background. The main perspective of the conference is to connect the scientists and practitioners from different disciplines in the same place and make them be aware of the recent advancements in different research fields, and provide them with a unique forum to share their experiences. It is also the place to support the new academic staff for doing research and publish their work in international standard level. This conference consists of sub conferences in different fields like: Art and Digital Media Agriculture, Food Science and Technology Architecture and Spatial Planning Civil Engineering, Infrastructure and Environment Computer Science and Communication Engineering Dental Sciences Education and Development Energy Efficiency Engineering Integrated Design Information Systems and Security Journalism, Media and Communication Law Language and Culture Management, Business and Economics Modern Music, Digital Production and Management Medicine and Nursing Mechatronics, System Engineering and Robotics Pharmaceutical and Natural Sciences Political Science Psychology Sport, Health and Society Security Studies This conference is the major scientific event of the UBT. It is organizing annually and always in cooperation with the partner universities from the region and Europe. We have to thank all Authors, partners, sponsors and also the conference organizing team making this event a real international scientific event. Edmond Hajrizi, President of UBT UBT – Higher Education Institutio

Managing the Human Service Market: The Case of Long-Term Care in Japan

Providing human service through competitive markets is inherently problematic. On one hand, quality care is critical; unsatisfactory human service greatly influences people’s quality of life. On the other hand, profit for human service providers is essential for sustainable service provision. This thesis focuses on striking a balance between human services’ need for quality assurance and market providers’ need for profit. The research primarily examines the provision of long-term care for the elderly in Japan, which has the biggest share of aged population among the OECD members. Two research questions guide the empirical research: 1. How should governments design the human service market in order to keep the capacity to ensure the quality of service? 2. How should governments set the performance measurement for quality care? The research presents and tests two models. The first model addresses market competition practices and offers an alternative care quality model, called Ideal CQM. Ideal CQM seeks to overcome deficiencies in the existing care quality model, which allows the market to accommodate poor quality care. To this end, Ideal CQM presents a theoretical market design in which quality of care is the sole basis for market competition. By implementing Idea CQM, governments can direct the market competition to enhance the quality of care and poor quality service can be automatically eliminated from the market. The second model addresses performance measurement and is a process-based model, which values the experiences of front-line care workers. The process-based performance measurement seeks to overcome deficiencies in the existing outcome-based performance measurement, which is rendered ineffectual by two unique features of human service: ambiguous policy goals and a considerable amount of front-line worker discretion. This thesis, thus, modifies the existing concept of market competition utilising public administration theory to accommodate the process-based performance measurement model. The research supports the use of market competition to provide human service for long-term care. Approving the workability and the practicability of the presented two models, the thesis concludes that governments can achieve balance between quality assurance and sustainable provision, if they are willing to meet the required conditions for implementation of the two models

Study and reformulation of the technical aid device HomeHoist

Dissertação de mestrado integrado em Engenharia BiomédicaCerebral palsy manifests itself in the first years of a child's life and may be caused by brain injuries, or abnormal brain development, reflecting in disorders in the child's motor capacity, each case varying in terms of severity and type of motor disorders. The average life expectancy of these children has been increasing, which means that it is relevant to find alternatives to improve the quality of life of those affected by this condition. Thus, the HomeHoist project emerged, which aimed to function as a single device for transferring patients with cerebral palsy without burdening the caregiver. The HomeHoist device consisted of an electric wheelchair, with a built-in hoist, removable seat, and free interior space, which allowed the patient to be transferred between various surfaces, such as beds and toilets. Following an internship at the company Orthos XXI, the interest arose to revive this project, which had been concluded in 2014. The aspects identified for improving the device were to incorporate verticalization; include leg raising, which despite being a goal in the original project, was not achieved; split the seat and backrest to customize the operation of the device; free up the lateral space on the seat to facilitate patient handling; and change the structure and components to meet the company's production, reducing production time and cost. Using project methodologies such as the goal tree, analysis of functions, and the method of weighted goals, it was possible, among several solutions, to understand which ones best fit the intended goals, followed by the determination of dimensional constraints and the selection and placement of mechanical components, to obtain a 3D model of the final device. With the model it was possible to obtain 65º verticalization; 155º reclination; the dimensions of the device were as intended; and the foot elevation was incorporated, although it did not allow to completely stretch the legs. Then, a brief analysis of the electrical components to be incorporated was made, followed by the simulation of two components, and with the simulation of one of them, the arch, it was realised that it would have to be redesigned to withstand the load that was applied to it, by increasing the diameter of the tube and the positioning of the rings. Finally, with the production of the prototype, it was possible to understand what should be improved to facilitate the production of the device, both in terms of production and assembly. The functioning of the device was also tested, to confirm the information obtained with the 3D model.A paralisia cerebral manifesta-se nos primeiros anos de vida de uma criança e pode ser provocada por lesões cerebrais, ou desenvolvimento cerebral anormal, refletindo-se em distúrbios na capacidade motora da mesma, cada caso variando em termos de severidade e de tipo de disfunções motoras. A esperança média de vida destas crianças tem vindo a aumentar, o que significa que é relevante encontrar alternativas para melhorar a qualidade de vida daqueles afetados por esta condição. Assim, surgiu o projeto HomeHoist, que tinha como objetivo funcionar como dispositivo único para a transferência de pacientes com paralisia cerebral, sem sobrecarregar o prestador de cuidados. O dispositivo HomeHoist consistia numa cadeira de rodas elétrica, com uma grua incorporada, assento removível e o espaço interior livre, o que permitia transferir o paciente entre várias superfícies, como a cama e vasos sanitários. No seguimento de um estágio na empresa Orthos XXI, surgiu o interesse em reavivar este projeto, que tinha sido concluído em 2014. Os aspetos identificados para a melhoria do dispositivo foram incorporar a função de verticalização; adicionar a elevação de pernas, que apesar de ser um objetivo no projeto original, não foi alcançado; dividir o assento e o encosto de costas, para personalizar o funcionamento do dispositivo; libertar o espaço lateral no assento, para facilitar o manuseamento do paciente; e alterar a estrutura e componentes para irem de encontro à produção da empresa, reduzindo o tempo e custo de produção. Usando metodologias de projeto, como a árvore de objetivos, análise de funções e o método dos objetivos ponderados, foi possível de entre várias soluções, compreender quais as que melhor se enquadravam nos objetivos pretendidos, seguindo-se então a determinação das restrições dimensionais e de seleção e colocação de componentes mecânicos, para obter um modelo 3D do dispositivo final. Com o modelo foi possível obter verticalização de 65º; reclinação de 155º; as dimensões do dispositivo foram ao encontro do pretendido; e a elevação de pés foi incorporada, apesar de não permitir esticar completamente as pernas. De seguida, foi feita uma breve análise dos componentes elétricos a ser incorporados, seguida da simulação FEM de dois componentes, sendo que, com a simulação de um deles, o arco, percebeu-se que o mesmo teria de ser alterado de modo a aguentar a carga que lhe era aplicada, aumentando-se o diâmetro do tubo e o posicionamento das argolas. Por fim, com a produção do protótipo foi possível perceber o que deveria ser melhorado para facilitar a produção do dispositivo, tanto em termos de produção como de montagem. Foi também testado o funcionamento do dispositivo, para confirmar a informação obtida com o modelo 3D